move initial sensor priority to parameters and purge ORB_PRIORITY

- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

@@ -63,10 +63,10 @@ static constexpr uint8_t clipping(const int16_t samples[16], int16_t clip_limit,
 	return clip_count;
 }
 
-PX4Accelerometer::PX4Accelerometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
+PX4Accelerometer::PX4Accelerometer(uint32_t device_id, enum Rotation rotation) :
 	ModuleParams(nullptr),
-	_sensor_pub{ORB_ID(sensor_accel), priority},
-	_sensor_fifo_pub{ORB_ID(sensor_accel_fifo), priority},
+	_sensor_pub{ORB_ID(sensor_accel)},
+	_sensor_fifo_pub{ORB_ID(sensor_accel_fifo)},
 	_device_id{device_id},
 	_rotation{rotation}
 {

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

@@ -44,7 +44,7 @@
 class PX4Accelerometer : public ModuleParams
 {
 public:
-	PX4Accelerometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Accelerometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
 	~PX4Accelerometer() override;
 
 	uint32_t get_device_id() const { return _device_id; }

src/lib/drivers/barometer/PX4Barometer.cpp

@@ -36,9 +36,9 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Barometer::PX4Barometer(uint32_t device_id, ORB_PRIO priority) :
+PX4Barometer::PX4Barometer(uint32_t device_id) :
 	CDev(nullptr),
-	_sensor_baro_pub{ORB_ID(sensor_baro), priority}
+	_sensor_baro_pub{ORB_ID(sensor_baro)}
 {
 	_class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
 	_sensor_baro_pub.advertise();

src/lib/drivers/barometer/PX4Barometer.hpp

@@ -45,7 +45,7 @@ class PX4Barometer : public cdev::CDev
 {
 
 public:
-	PX4Barometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT);
+	PX4Barometer(uint32_t device_id);
 	~PX4Barometer() override;
 
 	const sensor_baro_s &get() { return _sensor_baro_pub.get(); }

src/lib/drivers/gyroscope/PX4Gyroscope.cpp

@@ -50,10 +50,10 @@ static constexpr int32_t sum(const int16_t samples[16], uint8_t len)
 	return sum;
 }
 
-PX4Gyroscope::PX4Gyroscope(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
+PX4Gyroscope::PX4Gyroscope(uint32_t device_id, enum Rotation rotation) :
 	ModuleParams(nullptr),
-	_sensor_pub{ORB_ID(sensor_gyro), priority},
-	_sensor_fifo_pub{ORB_ID(sensor_gyro_fifo), priority},
+	_sensor_pub{ORB_ID(sensor_gyro)},
+	_sensor_fifo_pub{ORB_ID(sensor_gyro_fifo)},
 	_device_id{device_id},
 	_rotation{rotation}
 {

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -43,7 +43,7 @@
 class PX4Gyroscope : public ModuleParams
 {
 public:
-	PX4Gyroscope(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Gyroscope(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
 	~PX4Gyroscope() override;
 
 	uint32_t get_device_id() const { return _device_id; }

src/lib/drivers/magnetometer/PX4Magnetometer.cpp

@@ -36,9 +36,9 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Magnetometer::PX4Magnetometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
+PX4Magnetometer::PX4Magnetometer(uint32_t device_id, enum Rotation rotation) :
 	CDev(nullptr),
-	_sensor_pub{ORB_ID(sensor_mag), priority},
+	_sensor_pub{ORB_ID(sensor_mag)},
 	_device_id{device_id},
 	_rotation{rotation}
 {

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -43,7 +43,7 @@
 class PX4Magnetometer : public cdev::CDev
 {
 public:
-	PX4Magnetometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Magnetometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
 	~PX4Magnetometer() override;
 
 	bool external() { return _external; }

src/lib/drivers/rangefinder/PX4Rangefinder.cpp

@@ -35,8 +35,8 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const ORB_PRIO priority, const uint8_t device_orientation) :
-	_distance_sensor_pub{ORB_ID(distance_sensor), priority}
+PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_orientation) :
+	_distance_sensor_pub{ORB_ID(distance_sensor)}
 {
 	_distance_sensor_pub.advertise();
 

src/lib/drivers/rangefinder/PX4Rangefinder.hpp

@@ -44,7 +44,6 @@ class PX4Rangefinder
 
 public:
 	PX4Rangefinder(const uint32_t device_id,
-		       const ORB_PRIO priority = ORB_PRIO_DEFAULT,
 		       const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
 	~PX4Rangefinder();